Header	   header # ROS time(s)

int32[2]   ins_time # GPS weeks, GPS million seconds
float64 longitude_deg
float64 latitude_deg
geometry_msgs/Point pos # x,y,z ENU frame(m)

geometry_msgs/Vector3 velocity # vel_x,vel_y,vel_z, ENU frame(m/s)
geometry_msgs/Vector3 accelerate # acc_x,acc_y,acc_z, FLU frame(m/s^2)
geometry_msgs/Vector3 orientation # roll,pitch,yaw, FLU/ENU frame(rad,rad,rad)
geometry_msgs/Vector3 rpy_rate # roll_rate, pitch_rate, yaw_rate, FLU/ENU frame(deg/s)

float32[4] ins_std_error # std_lat, std_lon, std_height, std_heading
int32[6]   ins_data_info # ins_num_satellite, gps_delay , wheel_speed,ins_gnssflag_pos,gpsflag_heading ,ins_status
string     ins_status # 0_NONE_,  16_SINGLE_, 17_PSRDIFF_ , 34_NARROW_FLOAT_, 50_NARROW_INT_
string     ins_status_pos # 0_NONE_,  16_SINGLE_, 17_PSRDIFF_ , 34_NARROW_FLOAT_, 50_NARROW_INT_
string     ins_status_heading # 0_NONE_,  16_SINGLE_, 17_PSRDIFF_ , 34_NARROW_FLOAT_, 50_NARROW_INT_

int32[7] UTC_Time #year,month,day,hour,min,sec,msec

float64 GNSS_Latitude
float64 GNSS_Longtitude
float64 GNSS_LocatHeight
# uint64 GPS_Week

float32 GNSS_GDOP
float32 GNSS_PDOP
float32 GNSS_HDOP
float32 GNSS_HTDOP

float64 GNSS_Heading
float64 GNSS_Pitch

float64 INS_LocatHeight
